56 lines
2 KiB
Text
56 lines
2 KiB
Text
#pragma once
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#include <list>
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#include <vector>
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#include "veloslam/veloscan.h"
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#include "veloslam/tracker.h"
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#include <GL/gl.h> /* OpenGL header file */
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#include <GL/glu.h> /* OpenGL utilities header file */
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#ifdef _MSC_VER
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#include <GL/glut.h>
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#else
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#include <GL/freeglut.h>
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#endif
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/** for Glut display mode */
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#define RGBA 4 ///< colors for GLUT display
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#define RGB 3 ///< colors for GLUT display
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extern GLenum buffermode_debugView;
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extern void StartShow();
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void GetCurrecntdelteMat(Scan& CurrentScan , double *deltaMat);
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void DrawText(float x, float y, float z, char * outputstring);
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void DrawTextRGB(float x, float y, float z, float r, float g, float b, char * outputstring);
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void DrawTextRGB(Point P, float r, float g, float b, char * outputstring);
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void Draw_Line_GL_RGB(float x1, float y1, float z1, float x2, float y2, float z2, float r,float g,float b,float width=1.0);
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void Draw_Line_GL(float x1, float y1, float z1, float x2, float y2, float z2);
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void Draw_Line_GL_RGB(Point P1, Point P2, int width, float r,float g,float b, bool arrow);
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void Draw_Cube_GL_RGB(float min_x, float min_y, float min_z,
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float max_x, float max_y, float max_z,
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float r,float g,float b);
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void Draw_Inclined_Cube_GL_RGB(double rectangleVexPos[4][2],double min_z,double max_z,
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float r,float g,float b,float width=1.0);
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void DrawPointsRGB(Point p, float r, float g, float b);
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void DrawPoint(Point p, int size , float r, float g, float b);
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void DrawPoint(Point p, int size , float r, float g, float b, double deltaMat[16]);
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int DrawAll_ScanPoints_Number(vector <Scan *> allScans, int psize, float r, float g, float b, int n);
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void glDumpWindowPPM_debugView(const char *filename, GLenum mode);
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static void Reshape(int w, int h);
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static void SpecialKey(int key, int x, int y);
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static void Draw(void);
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int Show(int frameno);
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